Attitude control of a gyroscope actuator using event-based discrete-time approach

Bruno Boisseau 1 Sylvain Durand 2 John Jairo Martinez Molina 3 Thibaut Raharijaona 2 Nicolas Marchand 1
1 GIPSA-SYSCO - SYSCO
GIPSA-DA - Département Automatique
2 Biorobotique
ISM - Institut des Sciences du Mouvement Etienne Jules Marey
3 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
Abstract : In this paper, a discrete state feedback Linear Quadratic Regulator (LQR) for event-triggered control is presented. To ensure zero steady state error in the case of such controllers, one normally extends the states with an integral action. Instead of using integral action, the idea is to estimate the disturbance causing the steady state error and use this to extend the states. A Lyapunov-based event triggering function is proposed. Practical results using a gyroscope actuator are presented and compared to a classical time-triggered controller. The obtained results demonstrate the simplicity and efficiency of the proposed approach.
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Communication dans un congrès
First IEEE Conference on Event-Based Control Communication and Signal Processing, Jun 2015, Krakow, Poland. 2015, <10.1109/EBCCSP.2015.7300677 >
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Soumis le : vendredi 3 juillet 2015 - 12:18:13
Dernière modification le : jeudi 1 juin 2017 - 21:25:19
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Bruno Boisseau, Sylvain Durand, John Jairo Martinez Molina, Thibaut Raharijaona, Nicolas Marchand. Attitude control of a gyroscope actuator using event-based discrete-time approach. First IEEE Conference on Event-Based Control Communication and Signal Processing, Jun 2015, Krakow, Poland. 2015, <10.1109/EBCCSP.2015.7300677 >. <hal-01166201>

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